move_resume

This is a function for resuming the robot motion that was temporarily suspended by the move_pause function in the robot controller. It is ignored if there is no active robot path motion.

Definition
DRFLEx.h within class CDRFLEx, public section (line 766)

bool move_resume() { return _move_resume(_rbtCtrl); };

Parameter
None

Return

Value	Description
0	Error occurred while attempting to resume motion.
1	Successfully resumed the previously paused motion.

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx Drfl;

    // Define target joint position
    float j1[NUM_JOINT] = {0, 0, 90, 0, 0, 90};

    // Start asynchronous joint motion
    Drfl.movej(j1, 20, 40);

    while (true) {
        // Get current joint position
        LPPOSE pPose = Drfl.get_current_posx();

        // Pause motion if the 3rd joint exceeds 45 degrees
        if (pPose->_fTargetPos[2] >= 45) {
            Drfl.move_pause();  // Temporarily suspend motion
            std::this_thread::sleep_for(std::chrono::seconds(5)); // Wait for 5 seconds
            break;
        }
    }

    // Resume motion
    Drfl.move_resume();

    return 0;
}

This example demonstrates how to resume a robot’s motion that was previously suspended using move_pause(). After pausing for 5 seconds, the robot continues its motion seamlessly using move_resume().